Power line inspection method and device, unmanned aerial vehicle and storage medium

Abstract

The embodiment of the invention discloses a power line inspection method and device, an unmanned aerial vehicle and a storage medium. The method comprises the following steps: receiving a target inspection task issued by a control station, and determining a target inspection path matched with the target inspection task; sailing according to the target inspection path, and collecting a target image and thermal image data of a target inspection point when sailing to the target inspection point of the target power line; respectively determining an image recognition result corresponding to the target image and a thermal image data analysis result corresponding to the thermal image data; and the image recognition result and the thermal image data analysis result are fused to obtain the line state of the target inspection point, and the line state is fed back to the control station. According to the scheme of the embodiment of the invention, rapid and accurate autonomous inspection of the power line through the unmanned aerial vehicle is realized, and a guarantee is provided for the development of the power industry.

Description

Technical Field

[0001] The present invention relates to the field of line inspection technology, and in particular to a power line inspection method, device, drone and storage medium. Background Art

[0002] Transmission line inspection is an important way to ensure the safe operation of the power grid. At present, the inspection of transmission lines is mainly carried out by drones and manual collaboration. The specific method is: the inspection personnel carry a multi-rotor drone to the target tower location, and use the multi-rotor drone and its mission payload to take pictures of the external visible abnormal conditions or defects of the transmission line, such as the conductor, ground wire (optical cable), insulator, hardware, tower, infrastructure, ancillary facilities, and corridors. After the drone lands, the photos in the memory card are manually entered into the computer, and professional technicians view and analyze the photos to achieve a comprehensive and detailed inspection of the towers and conductors.

[0003] However, the complex geographical environment of my country's power line corridors brings many difficulties to drone line inspection. Especially for power line inspections that cross forest edge areas, high altitudes, ice and snow covered areas, geological disaster areas and natural weather disaster areas, inspectors need to carry drones and their mounts, multiple batteries, simple maintenance tools, etc., and cross mountains and ridges in harsh external environments to reach the vicinity of the target line, which brings safety hazards to inspectors and equipment, becoming a bottleneck for the current drone and manual collaborative inspection operations, and has become a major problem plaguing the power industry.

[0004] How to use drones to achieve fast and accurate autonomous inspections of power lines is a key research issue in the industry. Summary of the invention

[0005] The present invention provides a power line inspection method, device, drone and storage medium, which can realize rapid and accurate autonomous inspection of power lines through drones, thus providing guarantee for the development of the power industry.

[0006] According to one aspect of the present invention, a power line inspection method is provided, which is applied to a target drone, and the method comprises:

[0007] Receive the target inspection task issued by the control station, and determine the target inspection path matching the target inspection task;

[0008] Navigate according to the target inspection path, and when navigating to the target inspection point of the target power line, collect the target image and thermal image data of the target inspection point;

[0009] respectively determining an image recognition result corresponding to the target image and a thermal imaging data analysis result corresponding to the thermal imaging data;

[0010] The image recognition result and the thermal imaging data analysis result are fused to obtain the line status of the target inspection point, and the line status is fed back to the control station.

[0011] According to another aspect of the present invention, there is provided a power line inspection device, which is deployed on a target drone, and includes:

[0012] A receiving module is used to receive a target inspection task issued by a control station and determine a target inspection path matching the target inspection task;

[0013] A collection module, used for navigating according to the target inspection path, and when navigating to the target inspection point of the target power line, collecting the target image and thermal image data of the target inspection point;

[0014] A determination module, used to respectively determine an image recognition result corresponding to the target image and a thermal imaging data analysis result corresponding to the thermal imaging data;

[0015] A feedback module is used to fuse the image recognition result and the thermal imaging data analysis result to obtain the line status of the target inspection point and feed back the line status to the control station.

[0016] According to another aspect of the present invention, there is provided a drone, comprising:

[0017] at least one processor;

[0018] A camera and an infrared thermal imager; the camera is used to collect target images of target inspection points; the infrared thermal imager is used to collect thermal image data of the target inspection points;

[0019] and a memory communicatively connected to the at least one processor; wherein,

[0020] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the power line inspection method described in any embodiment of the present invention.

[0021] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the power line inspection method described in any embodiment of the present invention when executed.

[0022] The technical solution of the embodiment of the present invention determines a target inspection path that matches the target inspection task by receiving a target inspection task issued by a control station; navigates according to the target inspection path, and when navigating to the target inspection point of the target power line, collects the target image and thermal imaging data of the target inspection point; respectively determines an image recognition result corresponding to the target image, and a thermal imaging data analysis result corresponding to the thermal imaging data; fuses the image recognition result and the thermal imaging data analysis result to obtain the line status of the target inspection point, and feeds back the line status to the control station, thereby realizing rapid and accurate autonomous inspection of power lines by unmanned aerial vehicles, and providing a guarantee for the development of the power industry.

[0023] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0025] Figure 1 This is a flow chart of a power line inspection method provided according to Embodiment 1 of the present invention;

[0026] Figure 2 is a schematic diagram of the structure of a drone provided according to Embodiment 1 of the present invention;

[0027] Figure 3 This is a flow chart of a power line inspection method provided according to Embodiment 2 of the present invention;

[0028] Figure 4 is a schematic structural diagram of a power line inspection device provided according to Embodiment 3 of the present invention;

[0029] Figure 5 It is a structural schematic diagram of another unmanned aerial vehicle for implementing the power line inspection method of an embodiment of the present invention. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0031] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0032] Embodiment 1

[0033] Figure 1 This is a flow chart of a power line inspection method provided according to the first embodiment of the present invention. This embodiment is applicable to the case where autonomous inspection of power lines is realized by drones. This method can be executed by a power line inspection device. The power line inspection device can be implemented in the form of hardware and / or software. The power line inspection device can be configured in a drone. The target drone involved in this embodiment can be any drone, which is not limited in this embodiment. Figure 1 As shown, the method includes:

[0034] Step 110: Receive the target inspection task issued by the control station, and determine the target inspection path matching the target inspection task.

[0035] The control station may be a control station for each UAV or a power line inspection control station, which is not limited in this embodiment.

[0036] In an optional implementation of this embodiment, the control station can generate multiple inspection tasks at the same time, each inspection task corresponds to an inspection area, each inspection area can include multiple power lines, and each power line can include cables, insulators, hardware, poles, towers or substations, etc., which are not limited in this embodiment.

[0037] Optionally, in this embodiment, after formulating multiple inspection tasks, the control station can obtain the location information and idle status of each drone in turn, and issue each inspection task based on the location information and idle status of each drone (for example, based on the distance principle, the first inspection task can be issued to the idle distribution network robot closest to the first inspection area) so that each drone can complete the inspection task.

[0038] Figure 2 is a schematic diagram of the structure of a drone provided according to the first embodiment of the present invention. Figure 2 As shown, the UAV comprises: a UAV body 1, a patrol device 2 for power lines, a mounting card 3, a rotor mounting arm 4, a limit mounting sleeve 5, a UAV rotor 6, a mounting threaded hole 7 and a bottom mounting assembly 8. The upper surface of the UAV body 1 is provided with a patrol device 2 for power lines, a mounting card 3 is provided at one end of the upper surface of the UAV body 1, and a mounting threaded hole 7 is provided on the surface of the mounting card 3. Four rotor mounting arms 4 are fixedly installed on the side of the UAV body 1, and a bottom mounting assembly 8 is installed at the end of the rotor mounting arm 4. A limit mounting sleeve 5 is provided on the outside of the bottom mounting assembly 8, and a UAV rotor 6 is provided on the top of the bottom mounting assembly 8.

[0039] It should be noted that, in the present embodiment, a communication and control module is provided in the inspection device 2 of the power line, and the communication and control module is responsible for data transmission and command issuance between the UAV and the ground control station; its operation process is as follows: the UAV establishes a connection with the ground control station through the built-in communication equipment, for example, 4G / 5G, Wi-Fi or satellite communication can be established; during the flight, the UAV transmits the collected data to the ground station in real time, and receives flight instructions and control signals from the ground station.

[0040] It should also be noted that, in the present embodiment, a flight platform module is also provided in the inspection device 2 for power lines. The flight platform module is the physical carrier of the UAV and is responsible for carrying all sensors and equipment and realizing its stable flight in the air. Its operation method and process are as follows: First, the operator sets the flight parameters, including the flight altitude, speed and route, through the ground control station. After receiving these parameters, the flight control system carried by the UAV starts the power system, including batteries, motors and propellers, to make the UAV take off. During the flight, the flight control system adjusts the motor speed and propeller angle in real time to maintain the preset flight attitude and heading. At the same time, the GPS / Beidou navigation system provides precise positioning information to ensure that the UAV flies along the predetermined path.

[0041] In an optional implementation of this embodiment, after receiving the target inspection task issued by the control station, the target UAV can further determine a target inspection path that matches the target inspection task, so that the target UAV can follow the target inspection path to inspect each power line in the target inspection task.

[0042] Optionally, in this embodiment, determining a target inspection path that matches the target inspection task may include: parsing the target inspection task to determine the inspection area of ​​the target inspection task; determining the power lines included in the inspection area; and generating a target inspection path that matches the target inspection task based on the current location information of the target UAV, the inspection area, and each of the power lines.

[0043] In an optional implementation of this embodiment, after receiving the target inspection task issued by the control station, the target UAV can further parse the target inspection task and determine the inspection area that matches the target inspection task based on the analysis result; further, the power lines included in the inspection area can be determined, for example, the starting position of the included power lines, the height of the power lines or the number of power lines, etc., which are not limited in this embodiment.

[0044] Furthermore, a target inspection path matching the target inspection task can be generated based on the current location information of the target UAV, the inspection area, and each power line; illustratively, each inspection reference point matching the target inspection task can be determined based on the inspection area and each power line (it can be any area of ​​any power line, which is not limited in this embodiment), and the location information of each inspection reference point can be determined; further, a target inspection path can be generated based on the current location information of the target UAV and the location information of each inspection reference point. The advantage of this setting is that the target inspection path can be quickly determined, providing a basis for efficient inspection of subsequent power lines.

[0045] In another optional implementation of this embodiment, the console can automatically generate a target inspection path that matches the target inspection task based on the current location information of the target UAV and the target inspection task, and send the target inspection path to the target UAV so that the target UAV navigates according to the target inspection path.

[0046] The advantage of this setting is that it can save the time of the target UAV in determining the target inspection path, while also reducing the calculation amount of the target UAV and freeing up the memory of the target UAV.

[0047] Step 120: Navigate according to the target inspection route, and when navigating to the target inspection point of the target power line, collect the target image and thermal imaging data of the target inspection point.

[0048] The target inspection point of the target power line may be a small section of the target power line or the entire area of ​​the target power line, which is not limited in this embodiment. In this embodiment, the thermal image data of the target inspection point may be the temperature of the target inspection point or other parameters such as thermal radiation, which is not limited in this embodiment.

[0049] In an optional implementation of this embodiment, after determining or receiving the target inspection path, the target drone can navigate along the target inspection path, and when navigating to the target inspection point of the target power line, collect the target image and thermal imaging data of the target inspection point.

[0050] Optionally, in this embodiment, the target UAV may include: a camera and an infrared thermal imager; the camera may be used to collect target images of the target inspection point, and the infrared thermal imager may be used to collect thermal imaging data of the target inspection point.

[0051] In this embodiment, the collecting of the target image and thermal imaging data of the target inspection point may include: collecting each target image of the target inspection point by the camera; collecting each thermal imaging data of the target inspection point by the infrared thermal imager.

[0052] It should be noted that, in this embodiment, multiple images and thermal imaging data can be collected simultaneously for the same inspection point, which can prevent the collection of a single data from causing unclear or incomplete data, thereby affecting the accuracy of the inspection results of the power line.

[0053] Step 130: respectively determine an image recognition result corresponding to the target image and a thermal imaging data analysis result corresponding to the thermal imaging data.

[0054] In an optional implementation of this embodiment, after acquiring each target image and thermal imaging data of the target inspection point, the image recognition result corresponding to the target image and the thermal imaging data analysis result corresponding to the thermal imaging data may be further determined.

[0055] Optionally, in this embodiment, respectively determining the image recognition result corresponding to the target image and the thermal imaging data analysis result corresponding to the thermal imaging data may include: preprocessing the target image; the preprocessing includes: contrast enhancement and / or geometric correction; extracting target features of the preprocessed target image, and performing target detection and target classification on the target image after feature extraction to obtain the image recognition result.

[0056] In an optional implementation of this embodiment, after the target image of the target inspection point is acquired, the target image may be preprocessed, for example, contrast enhancement or geometric correction may be performed on the target image, which is not limited in this embodiment. Exemplarily, in this embodiment, the contrast of the target image may be enhanced by histogram equalization; the geometric correction of the target image may be performed by projection transformation.

[0057] Furthermore, the target features of the preprocessed target image can be extracted by using a Sobel operator; further, the target image after feature extraction can be subjected to target detection and target classification by using algorithms such as YOLO to obtain the image recognition result.

[0058] In another optional implementation of this embodiment, the collected target image may be directly input into a pre-trained image recognition model for detection, so as to obtain a recognition result corresponding to the target image.

[0059] In an optional implementation of the present embodiment, respectively determining an image recognition result corresponding to the target image and a thermal imaging data analysis result corresponding to the thermal imaging data may also include: performing temperature calibration on each thermal imaging data to obtain calibrated temperature data; determining target hotspot data in each temperature data, and analyzing the target hotspot data through a thermal time series to obtain a thermal imaging data analysis result corresponding to the target hotspot data.

[0060] Optionally, in this embodiment, the temperature calibration of the thermal imaging data can be performed using the following formula: cal =T m K+D, where T cal is the calibrated temperature, T m is the acquired temperature, K is the gain coefficient, and D is the bias coefficient; further, the target hotspot data can be determined by setting a temperature threshold, wherein the temperature threshold can be any temperature value, for example, 50 degrees Celsius, 70 degrees Celsius or 80 degrees Celsius, etc., which is not limited in this embodiment; optionally, in this embodiment, calibrated temperature data greater than the temperature threshold can be determined as the target hotspot data; further, each target hotspot data can be Fourier transformed to obtain a thermal imaging data analysis result corresponding to the target hotspot data.

[0061] Step 140: fuse the image recognition result and the thermal imaging data analysis result to obtain the line status of the target inspection point, and feed back the line status to the control station.

[0062] In an optional implementation of the present embodiment, after determining that the image recognition result and the thermal imaging data analysis result are obtained, the image recognition result and the thermal imaging data analysis result can be further fused and processed, and then the line status of the target inspection point is obtained according to the fusion result, wherein the line status of the target inspection point may include: the line is normal, the line is abnormal, or whether the line is abnormal is to be confirmed; it should be noted that if the line status is to be confirmed whether the line is abnormal, it is necessary to re-collect the target graphics and thermal imaging data, and obtain a new fusion result of the graphics recognition result and the thermal imaging data analysis result, and then quickly judge the line status of the target inspection point; further, the obtained line status can be fed back to the control station so that the control station can formulate a subsequent inspection plan according to the line status.

[0063] Optionally, in this embodiment, the image recognition result and the thermal imaging data analysis result are fused to obtain the line status of the target inspection point, which may include: fusing the image recognition result and the thermal imaging data analysis result through a fusion module in the drone to obtain a fusion result; classifying the fusion result through a random forest integration of multiple decision trees, and determining the line status of the target power line according to the classification result.

[0064] In an optional implementation of the present embodiment, the image recognition result and the thermal imaging data analysis result can be fused through a fusion module to obtain a fusion result; further, the fusion result is classified by integrating multiple decision trees through a random forest, and the line status of the target power line is determined according to the classification result; in another optional implementation of the present embodiment, the fusion result can also be input into a pre-trained classification model for classification, so as to obtain the line status of the target power line.

[0065] The technical solution of this embodiment determines a target inspection path that matches the target inspection task by receiving a target inspection task issued by a control station; navigates according to the target inspection path, and when navigating to the target inspection point of the target power line, collects the target image and thermal imaging data of the target inspection point; respectively determines an image recognition result corresponding to the target image, and a thermal imaging data analysis result corresponding to the thermal imaging data; fuses the image recognition result and the thermal imaging data analysis result to obtain the line status of the target inspection point, and feeds back the line status to the control station, thereby realizing rapid and accurate autonomous inspection of power lines by UAVs, and providing a guarantee for the development of the power industry.

[0066] Embodiment 2

[0067] Figure 31 is a flow chart of a power line inspection method provided according to Embodiment 2 of the present invention. This embodiment is a further refinement of the above technical solution. The technical solution in this embodiment can be combined with each optional solution in one or more of the above embodiments. Figure 3 As shown, the method includes:

[0068] Step 310: Receive the target inspection task issued by the control station, and determine the target inspection path matching the target inspection task.

[0069] Step 320: Navigate according to the target inspection route, and when navigating to the target inspection point of the target power line, collect the target image and thermal imaging data of the target inspection point.

[0070] Step 330: respectively determine the image recognition result corresponding to the target image and the thermal imaging data analysis result corresponding to the thermal imaging data.

[0071] Step 340: fuse the image recognition result and the thermal imaging data analysis result to obtain the line status of the target inspection point, and feed back the line status to the control station.

[0072] Step 350: Receive a line maintenance instruction matched with the line status fed back by the control station; and perform maintenance on the target inspection point according to the line maintenance instruction.

[0073] In an optional implementation of this embodiment, after receiving the line status of the target inspection point fed back by the UAV, the control station can formulate a line maintenance instruction (the maintenance instruction includes a maintenance plan) based on the received line status, and send the formulated line maintenance instruction to the target human-machine; further, after receiving the maintenance instruction sent by the control station, the target UAV maintains the target inspection point according to the maintenance plan included in the maintenance instruction.

[0074] In an optional implementation of this embodiment, the drone can provide feedback on the line status after each inspection point is inspected, or it can provide feedback on the line status of all inspection points after all inspection points in the target option area are inspected; accordingly, the control station can formulate a maintenance plan based on the line status of one inspection point, or it can formulate a maintenance plan based on the line status of all inspection points, which is not limited in this embodiment.

[0075] In the solution of this embodiment, after the target UAV feeds back the line status to the control station, it can also receive the line maintenance instructions matched with the line status fed back by the control station; the target inspection point road is maintained according to the line maintenance instructions, thereby realizing unmanned maintenance of the power line, saving a lot of human resources, and ensuring the stable operation of the power line.

[0076] Embodiment 3

[0077] Figure 4 1 is a schematic diagram of the structure of a power line inspection device provided according to Embodiment 3 of the present invention. Figure 4 As shown, the device includes: a receiving module 410 , a collecting module 420 , a determining module 430 and a feedback module 440 .

[0078] The receiving module 410 is used to receive the target inspection task issued by the control station and determine the target inspection path matching the target inspection task;

[0079] The acquisition module 420 is used to navigate according to the target inspection path, and when navigating to the target inspection point of the target power line, collect the target image and thermal image data of the target inspection point;

[0080] A determination module 430, used to respectively determine an image recognition result corresponding to the target image and a thermal imaging data analysis result corresponding to the thermal imaging data;

[0081] The feedback module 440 is used to fuse the image recognition result and the thermal imaging data analysis result to obtain the line status of the target inspection point and feed back the line status to the control station.

[0082] The solution of this embodiment receives the target inspection task issued by the control station through the receiving module, and determines the target inspection path matching the target inspection task; navigates according to the target inspection path through the acquisition module, and when navigating to the target inspection point of the target power line, collects the target image and thermal imaging data of the target inspection point; determines the image recognition result corresponding to the target image and the thermal imaging data analysis result corresponding to the thermal imaging data respectively through the determination module; fuses the image recognition result and the thermal imaging data analysis result through the feedback module to obtain the line status of the target inspection point, and feeds back the line status to the control station, thereby realizing rapid and accurate autonomous inspection of power lines by UAVs, and providing guarantee for the development of the power industry.

[0083] In an optional implementation of this embodiment, the receiving module 410 is specifically used to parse the target inspection task and determine the inspection area of ​​the target inspection task;

[0084] Determining each power line included in the inspection area;

[0085] A target inspection path matching the target inspection task is generated according to the current location information of the target UAV, the inspection area, and each of the power lines.

[0086] In an optional implementation of this embodiment, the target drone includes: a camera and an infrared thermal imager,

[0087] The acquisition module 420 is specifically used to acquire each target image of the target inspection point through the camera;

[0088] The thermal image data of each target inspection point are collected by the infrared thermal imager.

[0089] In an optional implementation of this embodiment, the determination module 430 is specifically used to pre-process the target image; the pre-processing includes: contrast enhancement and / or geometric correction;

[0090] The target features are extracted from the preprocessed target image, and target detection and target classification are performed on the target image after feature extraction to obtain the image recognition result.

[0091] In an optional implementation of this embodiment, the determination module 430 is further used to perform temperature calibration on each of the thermal imaging data to obtain each calibrated temperature data;

[0092] Target hotspot data are determined in each of the temperature data, and the target hotspot data are analyzed through a thermal time series to obtain a thermal imaging data analysis result corresponding to the target hotspot data.

[0093] In an optional implementation of this embodiment, the feedback module 440 is specifically used to fuse the image recognition result and the thermal imaging data analysis result through a fusion module in the drone to obtain a fusion result;

[0094] Classifying the fusion result by integrating multiple decision trees through random forest, and determining the line state of the target power line according to the classification result;

[0095] The line status includes: the line is normal, the line is abnormal, or it is to be confirmed whether the line is abnormal.

[0096] In an optional implementation of this embodiment, the inspection device for the power line further includes: a maintenance module, configured to receive a line maintenance instruction matched with the line state fed back by the control station;

[0097] Maintain the target inspection point road according to the line maintenance instruction.

[0098] The power line inspection device provided in the embodiment of the present invention can execute the power line inspection method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0099] Embodiment 4

[0100] Figure 5 A schematic diagram of another drone 10 that can be used to implement an embodiment of the present invention is shown. The drone is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The drone can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0101] like Figure 5 As shown, the drone 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the drone 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. The input / output (I / O) interface 15 is also connected to the bus 14.

[0102] A number of components in the drone 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the drone 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0103] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a power line inspection method.

[0104] In some embodiments, the inspection method of the power line can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the drone 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the inspection method of the power line described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to execute the inspection method of the power line in any other appropriate manner (for example, by means of firmware).

[0105] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0106] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0107] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0108] To provide interaction with a user, the systems and techniques described herein may be implemented on a drone having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the drone. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0109] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0110] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0111] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0112] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for inspecting a power line, characterized in that: Applied to a target UAV, the power line inspection method includes: Receive the target inspection task issued by the control station, and determine the target inspection path matching the target inspection task; Navigate according to the target inspection path, and when navigating to the target inspection point of the target power line, collect the target image and thermal image data of the target inspection point; respectively determining an image recognition result corresponding to the target image and a thermal imaging data analysis result corresponding to the thermal imaging data; The image recognition result and the thermal image data analysis result are fused to obtain the line status of the target inspection point, and the line status is fed back to the control station.

2. The power line inspection method according to claim 1, characterized in that: The determining of a target inspection path matching the target inspection task includes: Analyze the target inspection task and determine the inspection area of ​​the target inspection task; Determining each power line included in the inspection area; A target inspection path matching the target inspection task is generated according to the current location information of the target UAV, the inspection area, and each of the power lines.

3. The power line inspection method according to claim 1, characterized in that: The target UAV includes: a camera and an infrared thermal imager, The collecting of the target image and thermal imaging data of the target inspection point includes: Collecting each target image of the target inspection point by the camera; The thermal image data of each target inspection point are collected by the infrared thermal imager.

4. The power line inspection method according to claim 1, characterized in that: The respectively determining the image recognition result corresponding to the target image and the thermal imaging data analysis result corresponding to the thermal imaging data includes: Preprocessing the target image; the preprocessing includes: contrast enhancement and / or geometric correction; The target features are extracted from the preprocessed target image, and target detection and target classification are performed on the target image after feature extraction to obtain the image recognition result.

5. The power line inspection method according to claim 1, characterized in that: The separately determining the image recognition result corresponding to the target image and the thermal imaging data analysis result corresponding to the thermal imaging data further includes: Performing temperature calibration on each of the thermal imaging data to obtain calibrated temperature data; Target hotspot data are determined in each of the temperature data, and the target hotspot data are analyzed through a thermal time series to obtain a thermal imaging data analysis result corresponding to the target hotspot data.

6. The power line inspection method according to claim 4 or 5, characterized in that: The step of fusing the image recognition result and the thermal image data analysis result to obtain the line status of the target inspection point includes: The image recognition result and the thermal image data analysis result are fused by a fusion module in the drone to obtain a fusion result; Classifying the fusion result by integrating multiple decision trees through random forest, and determining the line state of the target power line according to the classification result; The line status includes: the line is normal, the line is abnormal, or it is to be confirmed whether the line is abnormal.

7. The power line inspection method according to claim 1, characterized in that: After feeding back the line status to the control station, the method further comprises: receiving a line maintenance instruction matched with the line status fed back by the control station; Maintain the target inspection point road according to the line maintenance instruction.

8. A power line inspection device, deployed on a target drone, characterized in that: The power line inspection device comprises: A receiving module is used to receive a target inspection task issued by a control station and determine a target inspection path matching the target inspection task; A collection module, used for navigating according to the target inspection path, and when navigating to the target inspection point of the target power line, collecting the target image and thermal image data of the target inspection point; A determination module, used to respectively determine an image recognition result corresponding to the target image and a thermal imaging data analysis result corresponding to the thermal imaging data; A feedback module is used to fuse the image recognition result and the thermal imaging data analysis result to obtain the line status of the target inspection point and feed back the line status to the control station.

9. A drone, characterized in that: The drone comprises: at least one processor; A camera and an infrared thermal imager; the camera is used to collect target images of target inspection points; the infrared thermal imager is used to collect thermal image data of the target inspection points; and a memory communicatively coupled to the at least one processor; The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the power line inspection method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the power line inspection method according to any one of claims 1 to 7 when executed.

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